<?xml version="1.0" encoding="UTF-8"?><PlexilPlan xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:tr="extended-plexil-translator" FileName="CONFLICT_MANAGEMENT.ple"><GlobalDeclarations LineNo="6" ColNo="8"><StateDeclaration LineNo="6" ColNo="8"><Name>numMissionWP</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="7" ColNo="8"><Name>nextMissionWPIndex</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="8" ColNo="8"><Name>position</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="9" ColNo="8"><Name>velocity</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="10" ColNo="8"><Name>allowedXtrackDev</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="11" ColNo="8"><Name>xtrackDev</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="12" ColNo="8"><Name>resolutionSpeed</Name><Return><Name>_return_0</Name><Type>Real</Type></Return></StateDeclaration><StateDeclaration LineNo="13" ColNo="8"><Name>totalFences</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="14" ColNo="8"><Name>totalTraffic</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="15" ColNo="8"><Name>trafficResType</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="16" ColNo="8"><Name>ditchingStatus</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="17" ColNo="11"><Name>fenceConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type><MaxSize>2</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="18" ColNo="8"><Name>trafficConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="19" ColNo="8"><Name>flightPlanConflict</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="20" ColNo="8"><Name>GFRecoveryPosition</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="21" ColNo="7"><Name>searchAlgorithm</Name><Return><Name>_return_0</Name><Type>String</Type></Return></StateDeclaration><StateDeclaration LineNo="22" ColNo="8"><Name>nextFeasibleWP</Name><Return><Name>_return_0</Name><Type>Integer</Type></Return></StateDeclaration><StateDeclaration LineNo="23" ColNo="8"><Name>directPathToNextFeasibleWP</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><StateDeclaration LineNo="24" ColNo="8"><Name>interceptManeuver</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return></StateDeclaration><StateDeclaration LineNo="25" ColNo="8"><Name>restartMission</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return></StateDeclaration><CommandDeclaration LineNo="28" ColNo="11"><Name>GetMissionWP</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return><Parameter><Name>index</Name><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="29" ColNo="11"><Name>CheckFenceViolation</Name><Return><Name>_return_0</Name><Type>Boolean</Type><MaxSize>2</MaxSize></Return><Parameter><Name>Position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter><Parameter><Name>Velocity</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="30" ColNo="11"><Name>ComputeCrossTrackDeviation</Name><Return><Name>_return_0</Name><Type>Real</Type></Return><Parameter><Name>planID</Name><Type>String</Type></Parameter><Parameter><Name>leg</Name><Type>Integer</Type></Parameter><Parameter><Name>position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="31" ColNo="11"><Name>GetRecoveryPosition</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return><Parameter><Name>Position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="32" ColNo="11"><Name>MonitorTraffic</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>4</MaxSize></Return><Parameter><Name>bands</Name><Type>Boolean</Type></Parameter><Parameter><Name>position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter><Parameter><Name>velocity</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="33" ColNo="11"><Name>ManeuverToIntercept</Name><Return><Name>_return_0</Name><Type>Real</Type><MaxSize>3</MaxSize></Return><Parameter><Name>planID</Name><Type>String</Type></Parameter><Parameter><Name>leg</Name><Type>Integer</Type></Parameter><Parameter><Name>position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="34" ColNo="11"><Name>CheckSafeToTurn</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return><Parameter><Name>position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter><Parameter><Name>velocity</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter><Parameter><Name>fromHeading</Name><Type>Real</Type></Parameter><Parameter><Name>toHeading</Name><Type>Real</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="35" ColNo="11"><Name>SetMode</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return><Parameter><Name>mode</Name><Type>String</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="36" ColNo="11"><Name>ComputeDistance</Name><Return><Name>_return_0</Name><Type>Real</Type></Return><Parameter><Name>positionA</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter><Parameter><Name>positionB</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="38" ColNo="8"><Name>SetNextMissionWP</Name><Return><Name>_return_0</Name><Type>Boolean</Type></Return><Parameter><Name>index</Name><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="39" ColNo="0"><Name>SetPos</Name><Parameter><Name>position</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="40" ColNo="0"><Name>SetVel</Name><Parameter><Name>velocity</Name><Type>Real</Type><MaxSize>3</MaxSize></Parameter></CommandDeclaration><CommandDeclaration LineNo="41" ColNo="0"><Name>Status</Name><Parameter><Name>text</Name><Type>String</Type></Parameter><Parameter><Type>Integer</Type></Parameter></CommandDeclaration><CommandDeclaration LineNo="42" ColNo="0"><Name>pprint</Name><AnyParameters/></CommandDeclaration><LibraryNodeDeclaration LineNo="45" ColNo="0"><Name>GOTO_POSITION</Name><Interface LineNo="45" ColNo="28"><In><DeclareVariable LineNo="44" ColNo="28"><Name>SearchType</Name><Type>String</Type></DeclareVariable><DeclareVariable LineNo="45" ColNo="28"><Name>TrafficConflict</Name><Type>Boolean</Type></DeclareVariable><DeclareArray LineNo="46" ColNo="28"><Name>TargetPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareVariable LineNo="47" ColNo="28"><Name>resSpeed</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="48" ColNo="28"><Name>PrevConflictId</Name><Type>Integer</Type></DeclareVariable></In><InOut><DeclareVariable LineNo="49" ColNo="28"><Name>resolutionCompleted</Name><Type>Boolean</Type></DeclareVariable></InOut></Interface></LibraryNodeDeclaration><LibraryNodeDeclaration LineNo="52" ColNo="0"><Name>TRAFFIC_RESOLUTION</Name><Interface LineNo="52" ColNo="33"><In><DeclareVariable LineNo="52" ColNo="33"><Name>nextWP</Name><Type>Integer</Type></DeclareVariable></In><InOut><DeclareVariable LineNo="51" ColNo="33"><Name>completionStatus</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="53" ColNo="33"><Name>resSpeed</Name><Type>Real</Type></DeclareVariable></InOut></Interface></LibraryNodeDeclaration><LibraryNodeDeclaration LineNo="56" ColNo="0"><Name>MONITOR</Name><Interface LineNo="56" ColNo="22"><InOut><DeclareVariable LineNo="55" ColNo="22"><Name>ConflictId</Name><Type>Integer</Type></DeclareVariable></InOut></Interface></LibraryNodeDeclaration></GlobalDeclarations><Node NodeType="NodeList" epx="Sequence" LineNo="61" ColNo="4"><NodeId>CONFLICT_MANAGEMENT</NodeId><Interface><InOut><DeclareVariable LineNo="60" ColNo="10"><Name>DitchStatus</Name><Type>Boolean</Type></DeclareVariable></InOut></Interface><VariableDeclarations><DeclareVariable LineNo="63" ColNo="4"><Name>gResolutionActive</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="64" ColNo="4"><Name>gKeepInConflict</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="65" ColNo="4"><Name>gKeepOutConflict</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="66" ColNo="4"><Name>gTrafficConflict</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="67" ColNo="4"><Name>gFlightPlanConflict</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="68" ColNo="4"><Name>reset</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="69" ColNo="4"><Name>endFP</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable><DeclareVariable LineNo="72" ColNo="4"><Name>gAllowedDeviation</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="73" ColNo="4"><Name>gDeviation</Name><Type>Real</Type></DeclareVariable><DeclareVariable LineNo="74" ColNo="4"><Name>gResSpeed</Name><Type>Real</Type></DeclareVariable><DeclareArray LineNo="75" ColNo="4"><Name>gPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="76" ColNo="4"><Name>gVelocity</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareVariable LineNo="79" ColNo="4"><Name>gNumMissionWp</Name><Type>Integer</Type></DeclareVariable><DeclareVariable LineNo="80" ColNo="4"><Name>gCurrentMissionWp</Name><Type>Integer</Type><InitialValue><IntegerValue>1</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="81" ColNo="4"><Name>gNumFences</Name><Type>Integer</Type><InitialValue><IntegerValue>0</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="82" ColNo="4"><Name>gNumTraffic</Name><Type>Integer</Type><InitialValue><IntegerValue>0</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="83" ColNo="4"><Name>gNumObjects</Name><Type>Integer</Type><InitialValue><IntegerValue>0</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="84" ColNo="4"><Name>gConflictId</Name><Type>Integer</Type><InitialValue><IntegerValue>0</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="85" ColNo="4"><Name>gOldConflictId</Name><Type>Integer</Type><InitialValue><IntegerValue>0</IntegerValue></InitialValue></DeclareVariable><DeclareVariable LineNo="87" ColNo="4"><Name>gSearchType</Name><Type>String</Type></DeclareVariable></VariableDeclarations><ExitCondition><BooleanVariable>reset</BooleanVariable></ExitCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__0</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__0</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__1</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__2</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__3</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__4</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__5</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__6</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__7</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__8</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__8</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="94" ColNo="4"><NodeId>ASSIGNMENT__0</NodeId><NodeBody><Assignment><IntegerVariable>gNumMissionWp</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>numMissionWP</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="95" ColNo="4"><NodeId>ASSIGNMENT__1</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__0</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gCurrentMissionWp</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>nextMissionWPIndex</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="96" ColNo="4"><NodeId>ASSIGNMENT__2</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__1</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><RealVariable>gAllowedDeviation</RealVariable><NumericRHS><LookupNow><Name><StringValue>allowedXtrackDev</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="97" ColNo="4"><NodeId>ASSIGNMENT__3</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__2</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><RealVariable>gResSpeed</RealVariable><NumericRHS><LookupNow><Name><StringValue>resolutionSpeed</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="98" ColNo="4"><NodeId>ASSIGNMENT__4</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__3</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><StringVariable>gSearchType</StringVariable><StringRHS><LookupNow><Name><StringValue>searchAlgorithm</StringValue></Name></LookupNow></StringRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="99" ColNo="4"><NodeId>COMMAND__5</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__4</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="100" ColNo="11"><StringValue>Plexil status: Starting conflict management</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="100" ColNo="4"><NodeId>COMMAND__6</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__5</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="101" ColNo="11"><StringValue>Plexil status: Total mission waypoints:</StringValue><IntegerVariable>gNumMissionWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="101" ColNo="4"><NodeId>COMMAND__7</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__6</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="102" ColNo="11"><StringValue>Plexil status: Preferred planning strategy:</StringValue><StringVariable>gSearchType</StringVariable></Arguments></Command></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="107" ColNo="8"><NodeId>BLOCK__8</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__7</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><RepeatCondition><AND><NOT><BooleanVariable>endFP</BooleanVariable></NOT><NOT><BooleanVariable>DitchStatus</BooleanVariable></NOT><NOT><BooleanVariable>reset</BooleanVariable></NOT></AND></RepeatCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__9</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">DETECTION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">DETECTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">RESOLUTION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="NodeList" epx="If" LineNo="109" ColNo="8"><NodeId>if__9</NodeId><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><LT><IntegerVariable>gCurrentMissionWp</IntegerVariable><IntegerVariable>gNumMissionWp</IntegerVariable></LT></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="110" ColNo="11"><NodeId>ASSIGNMENT__11</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><BooleanVariable>endFP</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="Else" LineNo="112" ColNo="11"><NodeId>BLOCK__12</NodeId><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__13</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__14</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__14</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><StartCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></SkipCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="111" ColNo="11"><NodeId>COMMAND__13</NodeId><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="112" ColNo="18"><StringValue>PLX: End of flight plan</StringValue><IntegerValue>6</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="113" ColNo="11"><NodeId>ASSIGNMENT__14</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__13</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>endFP</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="118" ColNo="12"><NodeId>DETECTION</NodeId><VariableDeclarations><DeclareArray LineNo="117" ColNo="12"><Name>statusGF</Name><Type>Boolean</Type><MaxSize>2</MaxSize></DeclareArray><DeclareVariable LineNo="118" ColNo="12"><Name>statusTF</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="119" ColNo="12"><Name>statusFP</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="120" ColNo="12"><Name>statusDH</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="121" ColNo="12"><Name>statusRS</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__9</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__15</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__15</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__16</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__16</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__17</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__18</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__19</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__19</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__20</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__20</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__21</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__21</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__22</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__22</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__23</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__23</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__24</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__24</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__25</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__25</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__26</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__26</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__29</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__29</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__32</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__32</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__35</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__35</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__38</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__38</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__39</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__39</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__40</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__40</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__41</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__41</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__42</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__42</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__43</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__43</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__44</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__44</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__46</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__46</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__48</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__48</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__50</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__50</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__52</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__52</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="124" ColNo="12"><NodeId>ASSIGNMENT__15</NodeId><NodeBody><Assignment><IntegerVariable>gCurrentMissionWp</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>nextMissionWPIndex</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="125" ColNo="12"><NodeId>ASSIGNMENT__16</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__15</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gNumFences</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>totalFences</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="126" ColNo="12"><NodeId>ASSIGNMENT__17</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__16</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gNumTraffic</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>totalTraffic</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="127" ColNo="12"><NodeId>ASSIGNMENT__18</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__17</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gNumObjects</IntegerVariable><NumericRHS><ADD LineNo="127" ColNo="43"><IntegerVariable>gNumFences</IntegerVariable><IntegerVariable>gNumTraffic</IntegerVariable></ADD></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="129" ColNo="12"><NodeId>ASSIGNMENT__19</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__18</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayVariable>statusGF</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>fenceConflict</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="130" ColNo="12"><NodeId>ASSIGNMENT__20</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__19</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusTF</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>trafficConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="131" ColNo="12"><NodeId>ASSIGNMENT__21</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__20</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusFP</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>flightPlanConflict</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="132" ColNo="12"><NodeId>ASSIGNMENT__22</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__21</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusDH</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>ditchingStatus</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="133" ColNo="12"><NodeId>ASSIGNMENT__23</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__22</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>statusRS</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>restartMission</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="134" ColNo="12"><NodeId>ASSIGNMENT__24</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__23</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><RealVariable>gResSpeed</RealVariable><NumericRHS><LookupNow><Name><StringValue>resolutionSpeed</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="136" ColNo="12"><NodeId>ASSIGNMENT__25</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__24</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gConflictId</IntegerVariable><NumericRHS><IntegerValue>0</IntegerValue></NumericRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="138" ColNo="12"><NodeId>if__26</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__25</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><OR><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement></OR></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="139" ColNo="17"><NodeId>ASSIGNMENT__28</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><IntegerVariable>gConflictId</IntegerVariable><NumericRHS><IntegerValue>1</IntegerValue></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="142" ColNo="12"><NodeId>if__29</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__26</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><BooleanVariable>statusTF</BooleanVariable></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="143" ColNo="17"><NodeId>ASSIGNMENT__31</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><IntegerVariable>gConflictId</IntegerVariable><NumericRHS><IntegerValue>2</IntegerValue></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="146" ColNo="12"><NodeId>if__32</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__29</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><BooleanVariable>statusFP</BooleanVariable></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="147" ColNo="16"><NodeId>ASSIGNMENT__34</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><IntegerVariable>gConflictId</IntegerVariable><NumericRHS><IntegerValue>3</IntegerValue></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="150" ColNo="12"><NodeId>if__35</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__32</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><AND><OR><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement></OR><BooleanVariable>statusTF</BooleanVariable></AND></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="151" ColNo="17"><NodeId>ASSIGNMENT__37</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><IntegerVariable>gConflictId</IntegerVariable><NumericRHS><IntegerValue>4</IntegerValue></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" LineNo="155" ColNo="12"><NodeId>ASSIGNMENT__38</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__35</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>DitchStatus</BooleanVariable><BooleanRHS><BooleanVariable>statusDH</BooleanVariable></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="156" ColNo="12"><NodeId>ASSIGNMENT__39</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__38</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>gKeepInConflict</BooleanVariable><BooleanRHS><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="157" ColNo="12"><NodeId>ASSIGNMENT__40</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__39</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>gKeepOutConflict</BooleanVariable><BooleanRHS><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="158" ColNo="12"><NodeId>ASSIGNMENT__41</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__40</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>gTrafficConflict</BooleanVariable><BooleanRHS><BooleanVariable>statusTF</BooleanVariable></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="159" ColNo="12"><NodeId>ASSIGNMENT__42</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__41</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>gFlightPlanConflict</BooleanVariable><BooleanRHS><BooleanVariable>statusFP</BooleanVariable></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="160" ColNo="12"><NodeId>ASSIGNMENT__43</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__42</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>reset</BooleanVariable><BooleanRHS><BooleanVariable>statusRS</BooleanVariable></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="164" ColNo="12"><NodeId>if__44</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__43</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><BooleanVariable>statusDH</BooleanVariable></PostCondition></Node><Node NodeType="Empty" epx="Then" LineNo="1" ColNo="0"><NodeId>BLOCK__45</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="168" ColNo="12"><NodeId>if__46</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__44</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><BooleanVariable>statusFP</BooleanVariable></PostCondition></Node><Node NodeType="Empty" epx="Then" LineNo="1" ColNo="0"><NodeId>BLOCK__47</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="172" ColNo="12"><NodeId>if__48</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__46</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></PostCondition></Node><Node NodeType="Empty" epx="Then" LineNo="1" ColNo="0"><NodeId>BLOCK__49</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="176" ColNo="12"><NodeId>if__50</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__48</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><ArrayElement><ArrayVariable>statusGF</ArrayVariable><Index><IntegerValue>1</IntegerValue></Index></ArrayElement></PostCondition></Node><Node NodeType="Empty" epx="Then" LineNo="1" ColNo="0"><NodeId>BLOCK__51</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="180" ColNo="12"><NodeId>if__52</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__50</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><BooleanVariable>statusTF</BooleanVariable></PostCondition></Node><Node NodeType="Empty" epx="Then" LineNo="1" ColNo="0"><NodeId>BLOCK__53</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="187" ColNo="12"><NodeId>RESOLUTION</NodeId><VariableDeclarations><DeclareArray LineNo="186" ColNo="12"><Name>RecoveryPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareArray LineNo="187" ColNo="12"><Name>DitchPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareVariable LineNo="189" ColNo="12"><Name>TrafficResolutionCompleted</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="190" ColNo="12"><Name>GeofenceResolutionCompleted</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="191" ColNo="12"><Name>FlightplanResolutionCompleted</Name><Type>Boolean</Type></DeclareVariable><DeclareVariable LineNo="192" ColNo="12"><Name>skipResumeMission</Name><Type>Boolean</Type><InitialValue><BooleanValue>false</BooleanValue></InitialValue></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">DETECTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">DETECTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><EQNumeric><IntegerVariable>gConflictId</IntegerVariable><IntegerValue>0</IntegerValue></EQNumeric></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__54</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__54</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__55</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__55</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__56</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__56</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__57</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__57</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__58</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__58</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">GEOFENCE_RESOLUTION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">GEOFENCE_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">TRAFFIC_RESOLUTION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">TRAFFIC_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">FLIGHTPLAN</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">FLIGHTPLAN</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__81</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__81</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">RESUME_MISSION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">RESUME_MISSION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__100</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__100</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="197" ColNo="12"><NodeId>ASSIGNMENT__54</NodeId><NodeBody><Assignment><IntegerVariable>gOldConflictId</IntegerVariable><NumericRHS><IntegerVariable>gConflictId</IntegerVariable></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="198" ColNo="12"><NodeId>COMMAND__55</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__54</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="199" ColNo="19"><StringValue>Plexil status: Starting resolution enroute to WP:</StringValue><IntegerVariable>gCurrentMissionWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="199" ColNo="12"><NodeId>COMMAND__56</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__55</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="200" ColNo="19"><StringValue>PLX:Starting conflict resolution</StringValue><IntegerValue>5</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="202" ColNo="12"><NodeId>ASSIGNMENT__57</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__56</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayVariable>gPosition</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>position</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="203" ColNo="12"><NodeId>ASSIGNMENT__58</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__57</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayVariable>gVelocity</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>velocity</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="206" ColNo="16"><NodeId>GEOFENCE_RESOLUTION</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__58</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__58</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><AND><NOT><BooleanVariable>gKeepInConflict</BooleanVariable></NOT><NOT><BooleanVariable>gKeepOutConflict</BooleanVariable></NOT></AND><BooleanVariable>gTrafficConflict</BooleanVariable></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__59</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__59</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__60</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__60</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">EXECUTE_RESOLUTION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">EXECUTE_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__63</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__63</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="206" ColNo="16"><NodeId>COMMAND__59</NodeId><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="207" ColNo="23"><StringValue>PLX:Executing fence resolution</StringValue><IntegerValue>5</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="207" ColNo="16"><NodeId>COMMAND__60</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__59</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="208" ColNo="23"><StringValue>Plexil status: Starting fence resolution</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="211" ColNo="20"><NodeId>EXECUTE_RESOLUTION</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__60</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__61</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__61</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">LibraryCall__62</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">LibraryCall__62</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="211" ColNo="20"><NodeId>ASSIGNMENT__61</NodeId><NodeBody><Assignment><ArrayVariable>RecoveryPosition</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>GFRecoveryPosition</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>LibraryCall__62</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__61</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><LibraryNodeCall><NodeId>GOTO_POSITION</NodeId><Alias><NodeParameter>SearchType</NodeParameter><StringVariable>gSearchType</StringVariable></Alias><Alias><NodeParameter>TrafficConflict</NodeParameter><BooleanValue>false</BooleanValue></Alias><Alias><NodeParameter>TargetPosition</NodeParameter><ArrayVariable>RecoveryPosition</ArrayVariable></Alias><Alias><NodeParameter>resSpeed</NodeParameter><RealVariable>gResSpeed</RealVariable></Alias><Alias><NodeParameter>PrevConflictId</NodeParameter><IntegerVariable>gOldConflictId</IntegerVariable></Alias><Alias><NodeParameter>resolutionCompleted</NodeParameter><BooleanVariable>GeofenceResolutionCompleted</BooleanVariable></Alias></LibraryNodeCall></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" LineNo="219" ColNo="16"><NodeId>ASSIGNMENT__63</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">EXECUTE_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>skipResumeMission</BooleanVariable><BooleanRHS><BooleanValue>false</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="225" ColNo="16"><NodeId>TRAFFIC_RESOLUTION</NodeId><VariableDeclarations><DeclareVariable LineNo="224" ColNo="16"><Name>resType</Name><Type>String</Type></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">GEOFENCE_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">GEOFENCE_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><NOT><BooleanVariable>gTrafficConflict</BooleanVariable></NOT></AND></SkipCondition><EndCondition><BooleanVariable>TrafficResolutionCompleted</BooleanVariable></EndCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__64</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__64</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__65</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__65</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__66</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__66</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__67</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__67</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">PURE_DAIDALUS</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">PURE_DAIDALUS</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">RRT_DAIDALUS</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">RRT_DAIDALUS</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="228" ColNo="16"><NodeId>COMMAND__64</NodeId><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="229" ColNo="23"><StringValue>PLX:Executing traffic resolution</StringValue><IntegerValue>5</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="231" ColNo="16"><NodeId>ASSIGNMENT__65</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__64</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><StringVariable>resType</StringVariable><StringRHS><StringValue>PURE_DAIDALUS</StringValue></StringRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="232" ColNo="16"><NodeId>COMMAND__66</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__65</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetMode</StringValue></Name><Arguments LineNo="233" ColNo="24"><StringValue>ACTIVE</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="234" ColNo="16"><NodeId>COMMAND__67</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__66</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="235" ColNo="23"><StringValue>Plexil status: Traffic resolution type:</StringValue><StringVariable>resType</StringVariable></Arguments></Command></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>PURE_DAIDALUS</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__67</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__67</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><NOT><EQString><StringVariable>resType</StringVariable><StringValue>PURE_DAIDALUS</StringValue></EQString></NOT></AND></SkipCondition><NodeBody><LibraryNodeCall><NodeId>TRAFFIC_RESOLUTION</NodeId><Alias><NodeParameter>completionStatus</NodeParameter><BooleanVariable>TrafficResolutionCompleted</BooleanVariable></Alias><Alias><NodeParameter>nextWP</NodeParameter><IntegerVariable>gCurrentMissionWp</IntegerVariable></Alias><Alias><NodeParameter>resSpeed</NodeParameter><RealVariable>gResSpeed</RealVariable></Alias></LibraryNodeCall></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="246" ColNo="21"><NodeId>RRT_DAIDALUS</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">PURE_DAIDALUS</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">PURE_DAIDALUS</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><NOT><EQString><StringVariable>resType</StringVariable><StringValue>RRT_DAIDALUS</StringValue></EQString></NOT></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__69</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__69</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">LibraryCall__71</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">LibraryCall__71</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="249" ColNo="44"><NodeId>BLOCK__69</NodeId><EndCondition><IsKnown><ArrayElement><ArrayVariable>RecoveryPosition</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></IsKnown></EndCondition><NodeBody><Command><ArrayVariable>RecoveryPosition</ArrayVariable><Name><StringValue>GetMissionWP</StringValue></Name><Arguments LineNo="250" ColNo="57"><IntegerVariable>gCurrentMissionWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>LibraryCall__71</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">BLOCK__69</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><LibraryNodeCall><NodeId>GOTO_POSITION</NodeId><Alias><NodeParameter>SearchType</NodeParameter><StringValue>RRT</StringValue></Alias><Alias><NodeParameter>TrafficConflict</NodeParameter><BooleanValue>true</BooleanValue></Alias><Alias><NodeParameter>TargetPosition</NodeParameter><ArrayVariable>RecoveryPosition</ArrayVariable></Alias><Alias><NodeParameter>resSpeed</NodeParameter><RealVariable>gResSpeed</RealVariable></Alias><Alias><NodeParameter>PrevConflictId</NodeParameter><IntegerVariable>gOldConflictId</IntegerVariable></Alias><Alias><NodeParameter>resolutionCompleted</NodeParameter><BooleanVariable>TrafficResolutionCompleted</BooleanVariable></Alias></LibraryNodeCall></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="264" ColNo="16"><NodeId>FLIGHTPLAN</NodeId><VariableDeclarations><DeclareVariable LineNo="263" ColNo="16"><Name>deviation</Name><Type>Real</Type><InitialValue><RealValue>1000000</RealValue></InitialValue></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">TRAFFIC_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">TRAFFIC_RESOLUTION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><NOT><BooleanVariable>gFlightPlanConflict</BooleanVariable></NOT><BooleanVariable>TrafficResolutionCompleted</BooleanVariable></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__72</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__72</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__73</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__73</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="266" ColNo="16"><NodeId>COMMAND__72</NodeId><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="267" ColNo="23"><StringValue>Plexil status: Resolving flight plan deviations</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="270" ColNo="20"><NodeId>BLOCK__73</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__72</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><OR><LT><RealVariable>deviation</RealVariable><DIV LineNo="270" ColNo="63"><RealVariable>gAllowedDeviation</RealVariable><IntegerValue>2</IntegerValue></DIV></LT><BooleanVariable>reset</BooleanVariable></OR></EndCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__74</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__74</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__75</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__75</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">MANEUVER</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">MANEUVER</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__80</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__80</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="270" ColNo="20"><NodeId>COMMAND__74</NodeId><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="271" ColNo="27"><StringValue>PLX:Resolving flight plan deviation</StringValue><IntegerValue>5</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="271" ColNo="20"><NodeId>COMMAND__75</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__74</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetMode</StringValue></Name><Arguments LineNo="272" ColNo="28"><StringValue>ACTIVE</StringValue></Arguments></Command></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="275" ColNo="24"><NodeId>MANEUVER</NodeId><VariableDeclarations><DeclareArray LineNo="274" ColNo="24"><Name>velCmd</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__75</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><RepeatCondition><BooleanValue>true</BooleanValue></RepeatCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__76</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__76</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__77</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__77</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__78</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__78</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__79</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__79</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="277" ColNo="24"><NodeId>ASSIGNMENT__76</NodeId><NodeBody><Assignment><BooleanVariable>reset</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>restartMission</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="278" ColNo="24"><NodeId>ASSIGNMENT__77</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__76</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><RealVariable>deviation</RealVariable><NumericRHS><LookupNow><Name><StringValue>xtrackDev</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="279" ColNo="24"><NodeId>ASSIGNMENT__78</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__77</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><ArrayVariable>velCmd</ArrayVariable><ArrayRHS><LookupNow><Name><StringValue>interceptManeuver</StringValue></Name></LookupNow></ArrayRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="279" ColNo="24"><NodeId>COMMAND__79</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__78</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetVel</StringValue></Name><Arguments LineNo="280" ColNo="31"><ArrayVariable>velCmd</ArrayVariable></Arguments></Command></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" LineNo="283" ColNo="20"><NodeId>ASSIGNMENT__80</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">MANEUVER</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>FlightplanResolutionCompleted</BooleanVariable><BooleanRHS><BooleanValue>true</BooleanValue></BooleanRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Assignment" LineNo="287" ColNo="12"><NodeId>ASSIGNMENT__81</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">FLIGHTPLAN</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>reset</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>restartMission</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="290" ColNo="16"><NodeId>RESUME_MISSION</NodeId><VariableDeclarations><DeclareVariable LineNo="289" ColNo="16"><Name>vNextFeasibleWp</Name><Type>Integer</Type></DeclareVariable><DeclareArray LineNo="290" ColNo="16"><Name>vNextPosition</Name><Type>Real</Type><MaxSize>3</MaxSize></DeclareArray><DeclareVariable LineNo="291" ColNo="16"><Name>vResolutionCompleted</Name><Type>Boolean</Type></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__81</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__81</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><BooleanVariable>skipResumeMission</BooleanVariable></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__82</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__82</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__83</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__83</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__84</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__84</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__85</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__85</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__86</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__86</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__88</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__88</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">LibraryCall__89</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">LibraryCall__89</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__90</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__90</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">INTERCEPT_MISSION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">INTERCEPT_MISSION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">LibraryCall__92</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">LibraryCall__92</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">CONTINUE_MISSION</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">CONTINUE_MISSION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Command" LineNo="294" ColNo="16"><NodeId>COMMAND__82</NodeId><NodeBody><Command><Name><StringValue>Status</StringValue></Name><Arguments LineNo="295" ColNo="23"><StringValue>PLX:Resuming mission</StringValue><IntegerValue>5</IntegerValue></Arguments></Command></NodeBody></Node><Node NodeType="Assignment" LineNo="297" ColNo="16"><NodeId>ASSIGNMENT__83</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__82</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>vNextFeasibleWp</IntegerVariable><NumericRHS><LookupNow><Name><StringValue>nextFeasibleWP</StringValue></Name></LookupNow></NumericRHS></Assignment></NodeBody></Node><Node NodeType="Assignment" LineNo="298" ColNo="16"><NodeId>ASSIGNMENT__84</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__83</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><BooleanVariable>reset</BooleanVariable><BooleanRHS><LookupNow><Name><StringValue>restartMission</StringValue></Name></LookupNow></BooleanRHS></Assignment></NodeBody></Node><Node NodeType="Command" LineNo="299" ColNo="16"><NodeId>COMMAND__85</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__84</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="300" ColNo="23"><StringValue>Plexil status: Intercepting mission to next feasible waypoint:</StringValue><IntegerVariable>vNextFeasibleWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="303" ColNo="36"><NodeId>BLOCK__86</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__85</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><IsKnown><ArrayElement><ArrayVariable>vNextPosition</ArrayVariable><Index><IntegerValue>0</IntegerValue></Index></ArrayElement></IsKnown></EndCondition><NodeBody><Command><ArrayVariable>vNextPosition</ArrayVariable><Name><StringValue>GetMissionWP</StringValue></Name><Arguments LineNo="304" ColNo="49"><IntegerVariable>vNextFeasibleWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="306" ColNo="16"><NodeId>COMMAND__88</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">BLOCK__86</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetNextMissionWP</StringValue></Name><Arguments LineNo="307" ColNo="33"><IntegerVariable>vNextFeasibleWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>LibraryCall__89</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__88</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><LibraryNodeCall><NodeId>MONITOR</NodeId><Alias><NodeParameter>ConflictId</NodeParameter><IntegerVariable>gConflictId</IntegerVariable></Alias></LibraryNodeCall></NodeBody></Node><Node NodeType="Assignment" LineNo="310" ColNo="16"><NodeId>ASSIGNMENT__90</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">LibraryCall__89</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Assignment><IntegerVariable>gOldConflictId</IntegerVariable><NumericRHS><IntegerVariable>gConflictId</IntegerVariable></NumericRHS></Assignment></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>INTERCEPT_MISSION</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__90</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__90</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><EQNumeric><IntegerVariable>gConflictId</IntegerVariable><IntegerValue>2</IntegerValue></EQNumeric><EQNumeric><IntegerVariable>gConflictId</IntegerVariable><IntegerValue>4</IntegerValue></EQNumeric></OR></AND></SkipCondition><NodeBody><LibraryNodeCall><NodeId>GOTO_POSITION</NodeId><Alias><NodeParameter>SearchType</NodeParameter><StringVariable>gSearchType</StringVariable></Alias><Alias><NodeParameter>TrafficConflict</NodeParameter><BooleanValue>false</BooleanValue></Alias><Alias><NodeParameter>TargetPosition</NodeParameter><ArrayVariable>vNextPosition</ArrayVariable></Alias><Alias><NodeParameter>resSpeed</NodeParameter><RealVariable>gResSpeed</RealVariable></Alias><Alias><NodeParameter>PrevConflictId</NodeParameter><IntegerVariable>gOldConflictId</IntegerVariable></Alias><Alias><NodeParameter>resolutionCompleted</NodeParameter><BooleanVariable>vResolutionCompleted</BooleanVariable></Alias></LibraryNodeCall></NodeBody></Node><Node NodeType="LibraryNodeCall"><NodeId>LibraryCall__92</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">INTERCEPT_MISSION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><LibraryNodeCall><NodeId>MONITOR</NodeId><Alias><NodeParameter>ConflictId</NodeParameter><IntegerVariable>gConflictId</IntegerVariable></Alias></LibraryNodeCall></NodeBody></Node><Node NodeType="NodeList" epx="Sequence" LineNo="328" ColNo="20"><NodeId>CONTINUE_MISSION</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">LibraryCall__92</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><SkipCondition><AND><EQInternal><NodeStateVariable><NodeRef dir="sibling">LibraryCall__92</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal><OR><EQNumeric><IntegerVariable>gConflictId</IntegerVariable><IntegerValue>2</IntegerValue></EQNumeric><EQNumeric><IntegerVariable>gConflictId</IntegerVariable><IntegerValue>4</IntegerValue></EQNumeric></OR></AND></SkipCondition><InvariantCondition><NOT><OR><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">ASSIGNMENT__93</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">ASSIGNMENT__93</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">if__94</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">if__94</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">COMMAND__97</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">COMMAND__97</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND><AND><EQInternal><NodeOutcomeVariable><NodeRef dir="child">BLOCK__98</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>FAILURE</NodeOutcomeValue></EQInternal><EQInternal><NodeStateVariable><NodeRef dir="child">BLOCK__98</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></AND></OR></NOT></InvariantCondition><NodeBody><NodeList><Node NodeType="Assignment" LineNo="329" ColNo="20"><NodeId>ASSIGNMENT__93</NodeId><NodeBody><Assignment><IntegerVariable>gCurrentMissionWp</IntegerVariable><NumericRHS><IntegerVariable>vNextFeasibleWp</IntegerVariable></NumericRHS></Assignment></NodeBody></Node><Node NodeType="NodeList" epx="If" LineNo="330" ColNo="20"><NodeId>if__94</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">ASSIGNMENT__93</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><NodeList><Node NodeType="Empty" epx="Condition"><NodeId>ep2cp_IfTest</NodeId><PostCondition><LE><ADD LineNo="330" ColNo="40"><IntegerVariable>vNextFeasibleWp</IntegerVariable><IntegerValue>1</IntegerValue></ADD><SUB LineNo="330" ColNo="60"><IntegerVariable>gNumMissionWp</IntegerVariable><IntegerValue>1</IntegerValue></SUB></LE></PostCondition></Node><Node NodeType="Assignment" epx="Then" LineNo="331" ColNo="26"><NodeId>ASSIGNMENT__96</NodeId><StartCondition><EQInternal><NodeOutcomeVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeOutcomeVariable><NodeOutcomeValue>SUCCESS</NodeOutcomeValue></EQInternal></StartCondition><SkipCondition><EQInternal><NodeFailureVariable><NodeRef dir="sibling">ep2cp_IfTest</NodeRef></NodeFailureVariable><NodeFailureValue>POST_CONDITION_FAILED</NodeFailureValue></EQInternal></SkipCondition><NodeBody><Assignment><IntegerVariable>gCurrentMissionWp</IntegerVariable><NumericRHS><ADD LineNo="331" ColNo="62"><IntegerVariable>vNextFeasibleWp</IntegerVariable><IntegerValue>1</IntegerValue></ADD></NumericRHS></Assignment></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Command" LineNo="333" ColNo="20"><NodeId>COMMAND__97</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">if__94</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>pprint</StringValue></Name><Arguments LineNo="334" ColNo="27"><StringValue>Plexil status: Finished intercepting. Resuming to:</StringValue><IntegerVariable>gCurrentMissionWp</IntegerVariable></Arguments></Command></NodeBody></Node><Node NodeType="Command" LineNo="338" ColNo="33"><NodeId>BLOCK__98</NodeId><VariableDeclarations><DeclareVariable LineNo="336" ColNo="24"><Name>status</Name><Type>Boolean</Type></DeclareVariable></VariableDeclarations><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">COMMAND__97</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><EndCondition><IsKnown><BooleanVariable>status</BooleanVariable></IsKnown></EndCondition><NodeBody><Command><BooleanVariable>status</BooleanVariable><Name><StringValue>SetNextMissionWP</StringValue></Name><Arguments LineNo="339" ColNo="50"><IntegerVariable>gCurrentMissionWp</IntegerVariable></Arguments></Command></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node><Node NodeType="Command" LineNo="346" ColNo="12"><NodeId>COMMAND__100</NodeId><StartCondition><EQInternal><NodeStateVariable><NodeRef dir="sibling">RESUME_MISSION</NodeRef></NodeStateVariable><NodeStateValue>FINISHED</NodeStateValue></EQInternal></StartCondition><NodeBody><Command><Name><StringValue>SetMode</StringValue></Name><Arguments LineNo="347" ColNo="20"><StringValue>PASSIVE</StringValue></Arguments></Command></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node></NodeList></NodeBody></Node></PlexilPlan>